version: 66.12
glider: 163
mission: 7
dive: 44
start: 7 25 115 9 37 33
data:
$ID,163
$MISSION,7
$DIVE,44
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,150
$T_MISSION,175
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51703
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0022199999
$HD_B,0.0116
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,27.983
$TGT_DEFAULT_LON,-87.467003
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,290
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2880
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.837452
$PRESSURE_SLOPE,0.00011605668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,115
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,250715,093044,2801.115,-8727.961,4,0.9,14,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-59.4
$GPS2,250715,093723,2801.075,-8727.887,6,0.9,16,-2.0
$SPEED_LIMITS,0.231,0.278
$TGT_NAME,T2
$TGT_LATLONG,2804.720,-8731.100
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,324.1,8552,-21.2,-13.333,-25.64,1918
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.40,-170.3,119,2384,942,725,0.0,0.0,0,87,0.00,0.00,-70.35,0.000,16386,0.000,0.000,117,2384,2861,2817,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.40,-170.3,118,2384,2818,2908,5.7,-8.1,11,115,8.48,2.15,-13.38,0.000,18948,0.223,0.046,2242,975,3578,3520,3636,0,0,0,0,0,0,25.25,25.64,25.77
$GC,154,-1.40,-170.3,2243,975,3522,3639,31.1,-40.4,23,161,0.00,2.20,0.00,0.000,1030,0.000,0.028,2234,2404,3580,3521,3639,0,0,0,0,0,0,28.83,25.67,28.83
$GC,225,-1.40,-170.3,2235,2405,3521,3640,58.2,-37.2,35,229,0.00,2.15,0.00,0.000,260,0.000,0.037,2224,3792,3580,3521,3640,0,0,0,0,0,0,28.83,25.70,28.83
$GC,415,-1.40,-170.3,2225,3793,3524,3644,110.6,-24.9,52,423,0.00,2.15,0.00,0.000,1030,0.000,0.021,2224,2377,3583,3523,3643,0,0,0,0,0,0,28.83,25.61,28.83
$GC,720,-1.40,-170.3,2224,2364,3529,3647,179.5,-22.3,73,724,0.00,2.22,0.00,0.000,260,0.000,0.039,2214,3787,3587,3528,3646,0,0,0,0,0,0,28.83,25.81,28.83
$GC,856,-1.40,-170.3,2214,3787,3529,3649,211.5,-24.1,82,860,0.10,2.10,0.00,0.000,3078,0.156,0.022,2242,2379,3588,3528,3648,0,0,0,0,0,0,25.48,25.89,28.83
$GC,1171,-1.40,-170.3,2242,2379,3531,3648,276.7,-20.9,103,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2378,3589,3530,3648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1470,-1.40,-170.3,2243,2379,3530,3649,338.6,-20.5,123,1474,0.00,2.22,0.00,0.000,260,0.000,0.041,2234,3795,3589,3530,3648,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1580,-1.40,-170.3,2234,3796,3530,3648,361.0,-21.7,130,1584,0.00,2.08,0.00,0.000,1030,0.000,0.022,2234,2426,3588,3529,3648,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1890,-1.40,-170.3,2234,2427,3530,3647,426.0,-20.4,151,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2426,3587,3529,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2190,-1.40,-170.3,2234,2427,3529,3643,486.3,-19.8,171,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2426,3585,3528,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-1.40,-170.3,2234,2427,3526,3639,545.4,-19.1,191,2494,0.00,2.20,0.00,0.000,260,0.000,0.044,2224,3790,3582,3525,3639,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2585,-1.40,-170.3,2224,3790,3524,3641,564.1,-20.8,197,2589,0.00,2.12,0.00,0.000,1030,0.000,0.024,2223,2394,3581,3523,3639,0,0,0,0,0,0,28.83,25.92,28.83
$STATE,2774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2774,begin apogee
$GC,2777,-0.25,0.0,2224,2580,3523,3638,602.4,-19.4,210,2914,1.33,0.00,132.75,0.848,10246,0.138,0.000,2617,2579,2879,2887,2872,0,0,0,0,0,0,25.50,28.83,24.23
$STATE,2915,end apogee,CONTROL_FINISHED_OK
$STATE,2915,begin climb
$GC,2916,1.40,170.3,2619,2580,2887,2871,607.4,0.0,219,3064,1.50,2.00,135.10,0.828,10500,0.071,0.045,3131,3788,2178,2235,2122,0,0,0,0,0,0,24.90,24.78,24.15
$GC,3087,1.40,170.3,3132,3788,2234,2125,591.3,14.3,230,3095,0.00,1.88,0.00,0.000,1030,0.000,0.025,3141,2598,2178,2232,2124,0,0,0,0,0,0,28.83,25.11,28.83
$GC,3393,1.40,170.3,3141,2597,2229,2119,536.0,17.1,251,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2597,2172,2227,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,1.40,170.3,3141,2598,2223,2116,484.0,17.4,271,3697,0.00,1.92,0.00,0.000,260,0.000,0.044,3138,3796,2169,2223,2115,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3717,1.40,170.3,3141,3796,2223,2116,481.2,17.6,272,3725,0.00,1.88,0.00,0.000,1030,0.000,0.026,3150,2577,2168,2222,2115,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4023,1.40,170.3,3151,2576,2219,2114,424.3,18.1,293,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2576,2165,2218,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4323,1.40,170.3,3151,2560,2217,2112,370.6,17.9,313,4327,0.00,1.95,0.00,0.000,260,0.000,0.045,3150,3795,2163,2216,2111,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4368,1.40,170.3,3151,3795,2216,2112,362.4,18.1,316,4372,0.00,1.88,0.00,0.000,1030,0.000,0.026,3160,2572,2164,2216,2112,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4683,1.40,170.3,3160,2567,2213,2109,304.7,18.5,337,4687,0.00,1.92,0.00,0.000,260,0.000,0.044,3159,3785,2160,2211,2110,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4763,1.40,170.3,3160,3786,2211,2110,289.7,20.3,342,4767,0.00,1.85,0.00,0.000,1030,0.000,0.026,3169,2569,2160,2211,2109,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5073,1.40,170.3,3170,2553,2210,2108,229.9,18.3,363,5077,0.00,1.95,0.00,0.000,260,0.000,0.042,3169,3792,2157,2208,2107,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5138,1.40,170.3,3169,3792,2210,2108,217.9,20.1,367,5142,0.00,1.85,0.00,0.000,1030,0.000,0.026,3178,2579,2157,2208,2107,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5448,1.40,170.3,3179,2564,2208,2107,161.2,17.3,388,5452,0.00,1.92,0.00,0.000,260,0.000,0.043,3178,3789,2157,2207,2107,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5668,1.40,170.3,3179,3790,2207,2107,115.7,22.0,402,5676,0.10,1.85,0.00,0.000,5126,0.153,0.025,3159,2561,2156,2206,2107,0,0,0,0,0,0,25.37,25.85,28.83
$GC,5973,1.42,177.2,3160,2559,2206,2105,70.7,13.0,430,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2559,2155,2206,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6093,1.51,225.1,3159,2559,2206,2104,57.0,10.8,442,6136,0.00,1.90,36.20,0.494,8452,0.000,0.041,3159,3790,1958,2013,1904,0,0,0,0,0,0,28.83,25.65,25.15
$GC,6206,1.64,287.4,3159,3791,2011,1901,44.0,10.0,458,6262,0.10,1.83,46.53,0.471,11270,0.054,0.024,3226,2555,1704,1762,1646,0,0,0,0,0,0,25.69,25.72,24.92
$GC,6321,1.67,302.6,3227,2555,1759,1642,30.8,12.5,479,6335,0.00,0.00,12.32,0.417,8710,0.000,0.000,3226,2554,1644,1706,1582,0,0,0,0,0,0,28.83,28.83,24.96
$GC,6394,1.72,327.7,3228,2555,1703,1578,21.3,12.0,493,6419,0.00,0.00,20.15,0.433,8454,0.000,0.000,3226,2555,1540,1606,1475,0,0,0,0,0,0,28.83,28.83,24.95
$GC,6478,1.72,327.7,3226,2555,1604,1472,8.8,16.1,509,6485,0.00,1.98,0.00,0.000,260,0.000,0.042,3226,3789,1536,1601,1471,0,0,0,0,0,0,28.83,25.55,28.83
$STATE,6513,end climb,SURFACE_DEPTH_REACHED
$STATE,6513,begin surface coast
$FINISH,2.1,1.022011
$STATE,6528,end surface coast,CONTROL_FINISHED_OK
$STATE,6529,begin surface
$SM_CCo,6547,76.22,0.052,0,0,840,500.16
$SM_GC,2.80,8.18,2.10,76.22,0.025,0.022,0.052,132,2389,840,-7.92,2.46,500.16,0,0,0,0,0,0,25.65,25.65,25.58
$IRIDIUM_FIX,2722.64,-8719.43,200508,230041
$TT8_MAMPS,0.096621,0.096621
$HUMID,40.86
$INTERNAL_PRESSURE,9.28966
$TCM_TEMP,24.30
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,146
$MI_LOG,3.5/516052/497884
$MI_ROOT,70.6/190403/55925
$MI_HOME,2.9/436550/423901
$24V_AH,24.15,10.742
$10V_AH,10.24,9.580
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.775,52.550,383.050,76.225,0.000,31.992,35.575,98.860,0.000,7067.100,17.215,0.000,4767.312,548.490,1497.893,71.266,0.000,1099.109,0.000,972.945,0.000,0.000,0.000
$DEVICE_MAMPS,222.615,46.665,848.385,52.020,0.000,60.440,160.000,223.000,0.000,35.743,30.710,0.000,0.390,12.960,38.430,45.170,0.000,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,345.655,0.000,0.000,0.000,0.000,0.000,7067.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.735,0.000,0.000,0.000
$MEM,296028
$DATA_FILE_SIZE,16759,519
$CAP_FILE_SIZE,77442,0
$CFSIZE,260034560,254726144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7092.20,0x236bc6,7,5
$GPS,250715,112900,2801.887,-8728.254,37,1.1,47,-2.0